btDiscreteDynamicsWorld Class Reference

btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController More...

#include <btDiscreteDynamicsWorld.h>

Inheritance diagram for btDiscreteDynamicsWorld:

Collaboration diagram for btDiscreteDynamicsWorld:

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btDiscreteDynamicsWorld (btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
	this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
virtual	~btDiscreteDynamicsWorld ()
virtual int	stepSimulation (btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))
	if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
virtual void	solveConstraints (btContactSolverInfo &solverInfo)
virtual void	synchronizeMotionStates ()
void	synchronizeSingleMotionState (btRigidBody *body)
	this can be useful to synchronize a single rigid body -> graphics object
virtual void	addConstraint (btTypedConstraint *constraint, bool disableCollisionsBetweenLinkedBodies=false)
virtual void	removeConstraint (btTypedConstraint *constraint)
virtual void	addAction (btActionInterface *)
virtual void	removeAction (btActionInterface *)
btSimulationIslandManager *	getSimulationIslandManager ()
const btSimulationIslandManager *	getSimulationIslandManager () const
btCollisionWorld *	getCollisionWorld ()
virtual void	setGravity (const btVector3 &gravity)
virtual btVector3	getGravity () const
virtual void	addCollisionObject (btCollisionObject *collisionObject, int collisionFilterGroup=btBroadphaseProxy::StaticFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter)
virtual void	addRigidBody (btRigidBody *body)
virtual void	addRigidBody (btRigidBody *body, int group, int mask)
virtual void	removeRigidBody (btRigidBody *body)
virtual void	removeCollisionObject (btCollisionObject *collisionObject)
	removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
virtual void	debugDrawConstraint (btTypedConstraint *constraint)
virtual void	debugDrawWorld ()
virtual void	setConstraintSolver (btConstraintSolver *solver)
virtual btConstraintSolver *	getConstraintSolver ()
virtual int	getNumConstraints () const
virtual btTypedConstraint *	getConstraint (int index)
virtual const btTypedConstraint *	getConstraint (int index) const
virtual btDynamicsWorldType	getWorldType () const
virtual void	clearForces ()
	the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
virtual void	applyGravity ()
	apply gravity, call this once per timestep
virtual void	setNumTasks (int numTasks)
virtual void	updateVehicles (btScalar timeStep)
	obsolete, use updateActions instead
virtual void	addVehicle (btActionInterface *vehicle)
	obsolete, use addAction instead
virtual void	removeVehicle (btActionInterface *vehicle)
	obsolete, use removeAction instead
virtual void	addCharacter (btActionInterface *character)
	obsolete, use addAction instead
virtual void	removeCharacter (btActionInterface *character)
	obsolete, use removeAction instead
void	setSynchronizeAllMotionStates (bool synchronizeAll)
bool	getSynchronizeAllMotionStates () const
void	setApplySpeculativeContactRestitution (bool enable)
bool	getApplySpeculativeContactRestitution () const
virtual void	serialize (btSerializer *serializer)
	Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo)
void	setLatencyMotionStateInterpolation (bool latencyInterpolation)
	Interpolate motion state between previous and current transform, instead of current and next transform.
bool	getLatencyMotionStateInterpolation () const
btAlignedObjectArray< btRigidBody * > &	getNonStaticRigidBodies ()
const btAlignedObjectArray< btRigidBody * > &	getNonStaticRigidBodies () const
Public Member Functions inherited from btDynamicsWorld
	btDynamicsWorld (btDispatcher *dispatcher, btBroadphaseInterface *broadphase, btCollisionConfiguration *collisionConfiguration)
virtual	~btDynamicsWorld ()
void	setInternalTickCallback (btInternalTickCallback cb, void *worldUserInfo=0, bool isPreTick=false)
	Set the callback for when an internal tick (simulation substep) happens, optional user info.
void	setWorldUserInfo (void *worldUserInfo)
void *	getWorldUserInfo () const
btContactSolverInfo &	getSolverInfo ()
const btContactSolverInfo &	getSolverInfo () const
Public Member Functions inherited from btCollisionWorld
	btCollisionWorld (btDispatcher *dispatcher, btBroadphaseInterface *broadphasePairCache, btCollisionConfiguration *collisionConfiguration)
	for debug drawing
virtual	~btCollisionWorld ()
void	setBroadphase (btBroadphaseInterface *pairCache)
const btBroadphaseInterface *	getBroadphase () const
btBroadphaseInterface *	getBroadphase ()
btOverlappingPairCache *	getPairCache ()
btDispatcher *	getDispatcher ()
const btDispatcher *	getDispatcher () const
void	updateSingleAabb (btCollisionObject *colObj)
virtual void	updateAabbs ()
virtual void	computeOverlappingPairs ()
	the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSimulation) it can be useful to use if you perform ray tests without collision detection/simulation
virtual void	setDebugDrawer (btIDebugDraw *debugDrawer)
virtual btIDebugDraw *	getDebugDrawer ()
virtual void	debugDrawObject (const btTransform &worldTransform, const btCollisionShape *shape, const btVector3 &color)
int	getNumCollisionObjects () const
virtual void	rayTest (const btVector3 &rayFromWorld, const btVector3 &rayToWorld, RayResultCallback &resultCallback) const
	rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
void	convexSweepTest (const btConvexShape *castShape, const btTransform &from, const btTransform &to, ConvexResultCallback &resultCallback, btScalar allowedCcdPenetration=btScalar(0.)) const
	convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
void	contactTest (btCollisionObject *colObj, ContactResultCallback &resultCallback)
	contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback.
void	contactPairTest (btCollisionObject *colObjA, btCollisionObject *colObjB, ContactResultCallback &resultCallback)
	contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected.
virtual void	refreshBroadphaseProxy (btCollisionObject *collisionObject)
btCollisionObjectArray &	getCollisionObjectArray ()
const btCollisionObjectArray &	getCollisionObjectArray () const
virtual void	performDiscreteCollisionDetection ()
btDispatcherInfo &	getDispatchInfo ()
const btDispatcherInfo &	getDispatchInfo () const
bool	getForceUpdateAllAabbs () const
void	setForceUpdateAllAabbs (bool forceUpdateAllAabbs)

Protected Member Functions
virtual void	predictUnconstraintMotion (btScalar timeStep)
void	integrateTransformsInternal (btRigidBody **bodies, int numBodies, btScalar timeStep)
virtual void	integrateTransforms (btScalar timeStep)
virtual void	calculateSimulationIslands ()
virtual void	updateActivationState (btScalar timeStep)
void	updateActions (btScalar timeStep)
void	startProfiling (btScalar timeStep)
virtual void	internalSingleStepSimulation (btScalar timeStep)
void	releasePredictiveContacts ()
void	createPredictiveContactsInternal (btRigidBody **bodies, int numBodies, btScalar timeStep)
virtual void	createPredictiveContacts (btScalar timeStep)
virtual void	saveKinematicState (btScalar timeStep)
void	serializeRigidBodies (btSerializer *serializer)
void	serializeDynamicsWorldInfo (btSerializer *serializer)
Protected Member Functions inherited from btCollisionWorld
void	serializeCollisionObjects (btSerializer *serializer)
void	serializeContactManifolds (btSerializer *serializer)

Protected Attributes
btAlignedObjectArray< btTypedConstraint * >	m_sortedConstraints
InplaceSolverIslandCallback *	m_solverIslandCallback
btConstraintSolver *	m_constraintSolver
btSimulationIslandManager *	m_islandManager
btAlignedObjectArray< btTypedConstraint * >	m_constraints
btAlignedObjectArray< btRigidBody * >	m_nonStaticRigidBodies
btVector3	m_gravity
btScalar	m_localTime
btScalar	m_fixedTimeStep
bool	m_ownsIslandManager
bool	m_ownsConstraintSolver
bool	m_synchronizeAllMotionStates
bool	m_applySpeculativeContactRestitution
btAlignedObjectArray< btActionInterface * >	m_actions
int	m_profileTimings
bool	m_latencyMotionStateInterpolation
btAlignedObjectArray< btPersistentManifold * >	m_predictiveManifolds
btSpinMutex	m_predictiveManifoldsMutex
Protected Attributes inherited from btDynamicsWorld
btInternalTickCallback	m_internalTickCallback
btInternalTickCallback	m_internalPreTickCallback
void *	m_worldUserInfo
btContactSolverInfo	m_solverInfo
Protected Attributes inherited from btCollisionWorld
btAlignedObjectArray< btCollisionObject * >	m_collisionObjects
btDispatcher *	m_dispatcher1
btDispatcherInfo	m_dispatchInfo
btBroadphaseInterface *	m_broadphasePairCache
btIDebugDraw *	m_debugDrawer
bool	m_forceUpdateAllAabbs
	m_forceUpdateAllAabbs can be set to false as an optimization to only update active object AABBs it is true by default, because it is error-prone (setting the position of static objects wouldn't update their AABB)

Additional Inherited Members
Static Public Member Functions inherited from btCollisionWorld
static void	rayTestSingle (const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject *collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, RayResultCallback &resultCallback)
	rayTestSingle performs a raycast call and calls the resultCallback.
static void	rayTestSingleInternal (const btTransform &rayFromTrans, const btTransform &rayToTrans, const btCollisionObjectWrapper *collisionObjectWrap, RayResultCallback &resultCallback)
static void	objectQuerySingle (const btConvexShape *castShape, const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject *collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, ConvexResultCallback &resultCallback, btScalar allowedPenetration)
	objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.
static void	objectQuerySingleInternal (const btConvexShape *castShape, const btTransform &convexFromTrans, const btTransform &convexToTrans, const btCollisionObjectWrapper *colObjWrap, ConvexResultCallback &resultCallback, btScalar allowedPenetration)

Detailed Description

btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController

Definition at line 36 of file btDiscreteDynamicsWorld.h.

Constructor & Destructor Documentation

btDiscreteDynamicsWorld()

btDiscreteDynamicsWorld::btDiscreteDynamicsWorld	(	btDispatcher *	dispatcher,
		btBroadphaseInterface *	pairCache,
		btConstraintSolver *	constraintSolver,
		btCollisionConfiguration *	collisionConfiguration
	)

this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those

Definition at line 191 of file btDiscreteDynamicsWorld.cpp.

~btDiscreteDynamicsWorld()

btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld ( )

virtual

Definition at line 229 of file btDiscreteDynamicsWorld.cpp.

Member Function Documentation

addAction()

void btDiscreteDynamicsWorld::addAction ( btActionInterface *  action )

virtual

Implements btDynamicsWorld.

Definition at line 651 of file btDiscreteDynamicsWorld.cpp.

addCharacter()

void btDiscreteDynamicsWorld::addCharacter ( btActionInterface *  character )

virtual

obsolete, use addAction instead

Reimplemented from btDynamicsWorld.

Definition at line 671 of file btDiscreteDynamicsWorld.cpp.

addCollisionObject()

void btDiscreteDynamicsWorld::addCollisionObject ( btCollisionObject *  collisionObject, int  collisionFilterGroup = btBroadphaseProxy::StaticFilter, int  collisionFilterMask = btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter  )

virtual

Reimplemented from btCollisionWorld.

Definition at line 517 of file btDiscreteDynamicsWorld.cpp.

addConstraint()

void btDiscreteDynamicsWorld::addConstraint ( btTypedConstraint *  constraint, bool  disableCollisionsBetweenLinkedBodies = false  )

virtual

Reimplemented from btDynamicsWorld.

Definition at line 631 of file btDiscreteDynamicsWorld.cpp.

addRigidBody() [1/2]

void btDiscreteDynamicsWorld::addRigidBody ( btRigidBody *  body )

virtual

Implements btDynamicsWorld.

Definition at line 537 of file btDiscreteDynamicsWorld.cpp.

addRigidBody() [2/2]

void btDiscreteDynamicsWorld::addRigidBody ( btRigidBody *  body, int  group, int  mask  )

virtual

Implements btDynamicsWorld.

Definition at line 563 of file btDiscreteDynamicsWorld.cpp.

addVehicle()

void btDiscreteDynamicsWorld::addVehicle ( btActionInterface *  vehicle )

virtual

obsolete, use addAction instead

Reimplemented from btDynamicsWorld.

Definition at line 661 of file btDiscreteDynamicsWorld.cpp.

applyGravity()

void btDiscreteDynamicsWorld::applyGravity ( )

virtual

apply gravity, call this once per timestep

Reimplemented in btMultiBodyDynamicsWorld.

Definition at line 322 of file btDiscreteDynamicsWorld.cpp.

BT_DECLARE_ALIGNED_ALLOCATOR()

btDiscreteDynamicsWorld::BT_DECLARE_ALIGNED_ALLOCATOR

(

)

calculateSimulationIslands()

void btDiscreteDynamicsWorld::calculateSimulationIslands ( )

protectedvirtual

Reimplemented in btMultiBodyDynamicsWorld.

Definition at line 709 of file btDiscreteDynamicsWorld.cpp.

clearForces()

void btDiscreteDynamicsWorld::clearForces ( )

virtual

the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.

Implements btDynamicsWorld.

Reimplemented in btMultiBodyDynamicsWorld.

Definition at line 309 of file btDiscreteDynamicsWorld.cpp.

createPredictiveContacts()

void btDiscreteDynamicsWorld::createPredictiveContacts ( btScalar  timeStep )

protectedvirtual

Reimplemented in btDiscreteDynamicsWorldMt.

Definition at line 941 of file btDiscreteDynamicsWorld.cpp.

createPredictiveContactsInternal()

void btDiscreteDynamicsWorld::createPredictiveContactsInternal ( btRigidBody **  bodies, int  numBodies, btScalar  timeStep  )

protected

Definition at line 849 of file btDiscreteDynamicsWorld.cpp.

debugDrawConstraint()

void btDiscreteDynamicsWorld::debugDrawConstraint ( btTypedConstraint *  constraint )

virtual

note: the code for D6_SPRING_2_CONSTRAINT_TYPE is identical to D6_CONSTRAINT_TYPE, the D6_CONSTRAINT_TYPE+D6_SPRING_CONSTRAINT_TYPE will likely become obsolete/deprecated at some stage

Definition at line 1117 of file btDiscreteDynamicsWorld.cpp.

debugDrawWorld()

void btDiscreteDynamicsWorld::debugDrawWorld ( )

virtual

Implements btDynamicsWorld.

Reimplemented in btMultiBodyDynamicsWorld, btDeformableMultiBodyDynamicsWorld, btSoftMultiBodyDynamicsWorld, and btSoftRigidDynamicsWorld.

Definition at line 269 of file btDiscreteDynamicsWorld.cpp.

getApplySpeculativeContactRestitution()

bool btDiscreteDynamicsWorld::getApplySpeculativeContactRestitution ( ) const

inline

Definition at line 214 of file btDiscreteDynamicsWorld.h.

getCollisionWorld()

btCollisionWorld * btDiscreteDynamicsWorld::getCollisionWorld ( )

inline

Definition at line 135 of file btDiscreteDynamicsWorld.h.

getConstraint() [1/2]

btTypedConstraint * btDiscreteDynamicsWorld::getConstraint ( int  index )

virtual

Reimplemented from btDynamicsWorld.

Definition at line 1370 of file btDiscreteDynamicsWorld.cpp.

getConstraint() [2/2]

const btTypedConstraint * btDiscreteDynamicsWorld::getConstraint ( int  index ) const

virtual

Reimplemented from btDynamicsWorld.

Definition at line 1374 of file btDiscreteDynamicsWorld.cpp.

getConstraintSolver()

btConstraintSolver * btDiscreteDynamicsWorld::getConstraintSolver ( )

virtual

Implements btDynamicsWorld.

Definition at line 1361 of file btDiscreteDynamicsWorld.cpp.

getGravity()

btVector3 btDiscreteDynamicsWorld::getGravity ( ) const

virtual

Implements btDynamicsWorld.

Definition at line 512 of file btDiscreteDynamicsWorld.cpp.

getLatencyMotionStateInterpolation()

bool btDiscreteDynamicsWorld::getLatencyMotionStateInterpolation ( ) const

inline

Definition at line 228 of file btDiscreteDynamicsWorld.h.

getNonStaticRigidBodies() [1/2]

btAlignedObjectArray< btRigidBody * > & btDiscreteDynamicsWorld::getNonStaticRigidBodies ( )

inline

Definition at line 233 of file btDiscreteDynamicsWorld.h.

getNonStaticRigidBodies() [2/2]

const btAlignedObjectArray< btRigidBody * > & btDiscreteDynamicsWorld::getNonStaticRigidBodies ( ) const

inline

Definition at line 238 of file btDiscreteDynamicsWorld.h.

getNumConstraints()

int btDiscreteDynamicsWorld::getNumConstraints ( ) const

virtual

Reimplemented from btDynamicsWorld.

Definition at line 1366 of file btDiscreteDynamicsWorld.cpp.

getSimulationIslandManager() [1/2]

btSimulationIslandManager * btDiscreteDynamicsWorld::getSimulationIslandManager ( )

inline

Definition at line 125 of file btDiscreteDynamicsWorld.h.

getSimulationIslandManager() [2/2]

const btSimulationIslandManager * btDiscreteDynamicsWorld::getSimulationIslandManager ( ) const

inline

Definition at line 130 of file btDiscreteDynamicsWorld.h.

getSynchronizeAllMotionStates()

bool btDiscreteDynamicsWorld::getSynchronizeAllMotionStates ( ) const

inline

Definition at line 204 of file btDiscreteDynamicsWorld.h.

getWorldType()

virtual btDynamicsWorldType btDiscreteDynamicsWorld::getWorldType ( ) const

inlinevirtual

Implements btDynamicsWorld.

Reimplemented in btDeformableMultiBodyDynamicsWorld, btSoftMultiBodyDynamicsWorld, and btSoftRigidDynamicsWorld.

Definition at line 169 of file btDiscreteDynamicsWorld.h.

integrateTransforms()

void btDiscreteDynamicsWorld::integrateTransforms ( btScalar  timeStep )

protectedvirtual

this should probably be switched on by default, but it is not well tested yet

Reimplemented in btMultiBodyDynamicsWorld, btDeformableMultiBodyDynamicsWorld, and btDiscreteDynamicsWorldMt.

Definition at line 1047 of file btDiscreteDynamicsWorld.cpp.

integrateTransformsInternal()

void btDiscreteDynamicsWorld::integrateTransformsInternal ( btRigidBody **  bodies, int  numBodies, btScalar  timeStep  )

protected

Definition at line 951 of file btDiscreteDynamicsWorld.cpp.

internalSingleStepSimulation()

void btDiscreteDynamicsWorld::internalSingleStepSimulation ( btScalar  timeStep )

protectedvirtual

apply gravity, predict motion

perform collision detection

solve contact and other joint constraints

CallbackTriggers();

integrate transforms

update vehicle simulation

Reimplemented in btDeformableMultiBodyDynamicsWorld, btSoftMultiBodyDynamicsWorld, and btSoftRigidDynamicsWorld.

Definition at line 452 of file btDiscreteDynamicsWorld.cpp.

predictUnconstraintMotion()

void btDiscreteDynamicsWorld::predictUnconstraintMotion ( btScalar  timeStep )

protectedvirtual

Reimplemented in btMultiBodyDynamicsWorld, btDeformableMultiBodyDynamicsWorld, btSoftMultiBodyDynamicsWorld, btSoftRigidDynamicsWorld, and btDiscreteDynamicsWorldMt.

Definition at line 1091 of file btDiscreteDynamicsWorld.cpp.

releasePredictiveContacts()

void btDiscreteDynamicsWorld::releasePredictiveContacts ( )

protected

Definition at line 929 of file btDiscreteDynamicsWorld.cpp.

removeAction()

void btDiscreteDynamicsWorld::removeAction ( btActionInterface *  action )

virtual

Implements btDynamicsWorld.

Definition at line 656 of file btDiscreteDynamicsWorld.cpp.

removeCharacter()

void btDiscreteDynamicsWorld::removeCharacter ( btActionInterface *  character )

virtual

obsolete, use removeAction instead

Reimplemented from btDynamicsWorld.

Definition at line 676 of file btDiscreteDynamicsWorld.cpp.

removeCollisionObject()

void btDiscreteDynamicsWorld::removeCollisionObject ( btCollisionObject *  collisionObject )

virtual

removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject

Reimplemented from btCollisionWorld.

Reimplemented in btDeformableMultiBodyDynamicsWorld, btSoftMultiBodyDynamicsWorld, and btSoftRigidDynamicsWorld.

Definition at line 522 of file btDiscreteDynamicsWorld.cpp.

removeConstraint()

void btDiscreteDynamicsWorld::removeConstraint ( btTypedConstraint *  constraint )

virtual

Reimplemented from btDynamicsWorld.

Definition at line 644 of file btDiscreteDynamicsWorld.cpp.

removeRigidBody()

void btDiscreteDynamicsWorld::removeRigidBody ( btRigidBody *  body )

virtual

Implements btDynamicsWorld.

Definition at line 531 of file btDiscreteDynamicsWorld.cpp.

removeVehicle()

void btDiscreteDynamicsWorld::removeVehicle ( btActionInterface *  vehicle )

virtual

obsolete, use removeAction instead

Reimplemented from btDynamicsWorld.

Definition at line 666 of file btDiscreteDynamicsWorld.cpp.

saveKinematicState()

void btDiscreteDynamicsWorld::saveKinematicState ( btScalar  timeStep )

protectedvirtual

would like to iterate over m_nonStaticRigidBodies, but unfortunately old API allows to switch status after adding kinematic objects to the world fix it for Bullet 3.x release

Reimplemented in btMultiBodyDynamicsWorld.

Definition at line 249 of file btDiscreteDynamicsWorld.cpp.

serialize()

void btDiscreteDynamicsWorld::serialize ( btSerializer *  serializer )

virtual

Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo)

Reimplemented from btCollisionWorld.

Reimplemented in btMultiBodyDynamicsWorld, btSoftMultiBodyDynamicsWorld, and btSoftRigidDynamicsWorld.

Definition at line 1456 of file btDiscreteDynamicsWorld.cpp.

serializeDynamicsWorldInfo()

void btDiscreteDynamicsWorld::serializeDynamicsWorldInfo ( btSerializer *  serializer )

protected

Definition at line 1405 of file btDiscreteDynamicsWorld.cpp.

serializeRigidBodies()

void btDiscreteDynamicsWorld::serializeRigidBodies ( btSerializer *  serializer )

protected

Definition at line 1379 of file btDiscreteDynamicsWorld.cpp.

setApplySpeculativeContactRestitution()

void btDiscreteDynamicsWorld::setApplySpeculativeContactRestitution ( bool  enable )

inline

Definition at line 209 of file btDiscreteDynamicsWorld.h.

setConstraintSolver()

void btDiscreteDynamicsWorld::setConstraintSolver ( btConstraintSolver *  solver )

virtual

Implements btDynamicsWorld.

Reimplemented in btMultiBodyDynamicsWorld.

Definition at line 1350 of file btDiscreteDynamicsWorld.cpp.

setGravity()

void btDiscreteDynamicsWorld::setGravity ( const btVector3 &  gravity )

virtual

Implements btDynamicsWorld.

Reimplemented in btDeformableMultiBodyDynamicsWorld.

Definition at line 499 of file btDiscreteDynamicsWorld.cpp.

setLatencyMotionStateInterpolation()

void btDiscreteDynamicsWorld::setLatencyMotionStateInterpolation ( bool  latencyInterpolation )

inline

Interpolate motion state between previous and current transform, instead of current and next transform.

This can relieve discontinuities in the rendering, due to penetrations

Definition at line 224 of file btDiscreteDynamicsWorld.h.

setNumTasks()

virtual void btDiscreteDynamicsWorld::setNumTasks ( int  numTasks )

inlinevirtual

Definition at line 180 of file btDiscreteDynamicsWorld.h.

setSynchronizeAllMotionStates()

void btDiscreteDynamicsWorld::setSynchronizeAllMotionStates ( bool  synchronizeAll )

inline

Definition at line 200 of file btDiscreteDynamicsWorld.h.

solveConstraints()

void btDiscreteDynamicsWorld::solveConstraints ( btContactSolverInfo &  solverInfo )

virtual

solve all the constraints for this island

Reimplemented in btMultiBodyDynamicsWorld, and btDiscreteDynamicsWorldMt.

Definition at line 681 of file btDiscreteDynamicsWorld.cpp.

startProfiling()

void btDiscreteDynamicsWorld::startProfiling ( btScalar  timeStep )

protected

Definition at line 1108 of file btDiscreteDynamicsWorld.cpp.

stepSimulation()

int btDiscreteDynamicsWorld::stepSimulation ( btScalar  timeStep, int  maxSubSteps = 1, btScalar  fixedTimeStep = btScalar(1.) / btScalar(60.)  )

virtual

if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's

Implements btDynamicsWorld.

Reimplemented in btDiscreteDynamicsWorldMt, and btDeformableMultiBodyDynamicsWorld.

Definition at line 382 of file btDiscreteDynamicsWorld.cpp.

synchronizeMotionStates()

void btDiscreteDynamicsWorld::synchronizeMotionStates ( )

virtual

Implements btDynamicsWorld.

Definition at line 356 of file btDiscreteDynamicsWorld.cpp.

synchronizeSingleMotionState()

void btDiscreteDynamicsWorld::synchronizeSingleMotionState

(

btRigidBody *

body

)

this can be useful to synchronize a single rigid body -> graphics object

Definition at line 335 of file btDiscreteDynamicsWorld.cpp.

updateActions()

void btDiscreteDynamicsWorld::updateActions ( btScalar  timeStep )

protected

Definition at line 584 of file btDiscreteDynamicsWorld.cpp.

updateActivationState()

void btDiscreteDynamicsWorld::updateActivationState ( btScalar  timeStep )

protectedvirtual

Reimplemented in btMultiBodyDynamicsWorld, and btDeformableMultiBodyDynamicsWorld.

Definition at line 594 of file btDiscreteDynamicsWorld.cpp.

updateVehicles()

virtual void btDiscreteDynamicsWorld::updateVehicles ( btScalar  timeStep )

inlinevirtual

obsolete, use updateActions instead

Definition at line 186 of file btDiscreteDynamicsWorld.h.

Member Data Documentation

m_actions

btAlignedObjectArray<btActionInterface*> btDiscreteDynamicsWorld::m_actions

protected

Definition at line 63 of file btDiscreteDynamicsWorld.h.

m_applySpeculativeContactRestitution

bool btDiscreteDynamicsWorld::m_applySpeculativeContactRestitution

protected

Definition at line 61 of file btDiscreteDynamicsWorld.h.

m_constraints

btAlignedObjectArray<btTypedConstraint*> btDiscreteDynamicsWorld::m_constraints

protected

Definition at line 47 of file btDiscreteDynamicsWorld.h.

m_constraintSolver

btConstraintSolver* btDiscreteDynamicsWorld::m_constraintSolver

protected

Definition at line 43 of file btDiscreteDynamicsWorld.h.

m_fixedTimeStep

btScalar btDiscreteDynamicsWorld::m_fixedTimeStep

protected

Definition at line 55 of file btDiscreteDynamicsWorld.h.

m_gravity

btVector3 btDiscreteDynamicsWorld::m_gravity

protected

Definition at line 51 of file btDiscreteDynamicsWorld.h.

m_islandManager

btSimulationIslandManager* btDiscreteDynamicsWorld::m_islandManager

protected

Definition at line 45 of file btDiscreteDynamicsWorld.h.

m_latencyMotionStateInterpolation

bool btDiscreteDynamicsWorld::m_latencyMotionStateInterpolation

protected

Definition at line 67 of file btDiscreteDynamicsWorld.h.

m_localTime

btScalar btDiscreteDynamicsWorld::m_localTime

protected

Definition at line 54 of file btDiscreteDynamicsWorld.h.

m_nonStaticRigidBodies

btAlignedObjectArray<btRigidBody*> btDiscreteDynamicsWorld::m_nonStaticRigidBodies

protected

Definition at line 49 of file btDiscreteDynamicsWorld.h.

m_ownsConstraintSolver

bool btDiscreteDynamicsWorld::m_ownsConstraintSolver

protected

Definition at line 59 of file btDiscreteDynamicsWorld.h.

m_ownsIslandManager

bool btDiscreteDynamicsWorld::m_ownsIslandManager

protected

Definition at line 58 of file btDiscreteDynamicsWorld.h.

m_predictiveManifolds

btAlignedObjectArray<btPersistentManifold*> btDiscreteDynamicsWorld::m_predictiveManifolds

protected

Definition at line 69 of file btDiscreteDynamicsWorld.h.

m_predictiveManifoldsMutex

btSpinMutex btDiscreteDynamicsWorld::m_predictiveManifoldsMutex

protected

Definition at line 70 of file btDiscreteDynamicsWorld.h.

m_profileTimings

int btDiscreteDynamicsWorld::m_profileTimings

protected

Definition at line 65 of file btDiscreteDynamicsWorld.h.

m_solverIslandCallback

InplaceSolverIslandCallback* btDiscreteDynamicsWorld::m_solverIslandCallback

protected

Definition at line 41 of file btDiscreteDynamicsWorld.h.

m_sortedConstraints

btAlignedObjectArray<btTypedConstraint*> btDiscreteDynamicsWorld::m_sortedConstraints

protected

Definition at line 40 of file btDiscreteDynamicsWorld.h.

m_synchronizeAllMotionStates

bool btDiscreteDynamicsWorld::m_synchronizeAllMotionStates

protected

Definition at line 60 of file btDiscreteDynamicsWorld.h.

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The documentation for this class was generated from the following files:

• btDiscreteDynamicsWorld.h
• btDiscreteDynamicsWorld.cpp